Vehicle steering control system using navigation system

A vehicle control system comprising:

• a map information outputting means for outputting map information including a road on which a subject vehicle travels;
• a subject-vehicle position detecting means for detecting a subject-vehicle position on a map;
• a steering means for steering a steering control wheel of the vehicle;
• a steering-torque applying means for applying a steering torque to said steering means;
• means for determining an azimuth chance quantity of the road on which the vehicle is traveling;
• means for determining an azimuth change quantity of the vehicle;
• means for determining a deviation between a determined azimuth change quantity of the road on which the vehicle is traveling and a determined azimuth change quantity of the vehicle, and for driving said steering-torque applying means such as to decrease said deviation;
• a steering angle detecting means for detecting a steering angle of the steering control wheel of the vehicle;
• and
• a vehicle speed detecting means for detecting a vehicle speed, wherein
• said azimuth change quantity of the vehicle is determined based on the steering angle and the vehicle speed.

A vehicle control system comprising:

• a map information outputting means for outputting map information including a road on which a subject vehicle travels;
• a subject-vehicle position detecting means for detecting a subject-vehicle position on a map;
• a steering means for steering a steering control wheel of the vehicle;
• a steering-torque applying means for applying a steering torque to said steering means;
• a reference yaw rate determining means for estimating a yaw rate generated during traveling of the vehicle based on the shape of a road ahead of the subject-vehicle position on the map to determine the estimated yaw rate as a reference yaw rate of the vehicle;
• actual yaw rate detecting means for detecting an actual yaw rate of the vehicle;
• and
• a control means for determining a deviation between the reference yaw rate and the actual rate, and for controlling said steering-torque applying means such as to decrease said deviation.

A vehicle control system comprising:

• a map information outputting means for outputting map information including a road on which a subject vehicle travels;
• a subject-vehicle position detecting means for detecting a subject-vehicle position on a map;
• a steering means for steering a steering control wheel of the vehicle;
• a steering-torque applying means for applying a steering torque to the steering means;
• a steering angular velocity detecting means for detecting a steering angular velocity input to said steering means;
• and
• a steerage control means which determines a steering-torque application quantity based on a traveling state of the vehicle and a shape of a road ahead of said subject-vehicle position on the map to drive said steering-torque applying means, and which corrects said steering-torque application quantity when a steering angular velocity equal to or larger than a predetermined value is detected by said steering angular velocity detecting means.